Navigated femoral anteversion measurements: general precision and registration options

Radiological outcome and intraoperative evaluation of a computer-navigation system for femoral nailing: a retrospective cohort study

AIM

Intraoperative determinations of femoral antetorsion and leg length during fixation of femoral shaft fractures present a challenge. In femoral shaft fracture fixations, a computer-navigation system has shown promise in determining antetorsion and leg length discrepancies. This retrospective cohort study aimed to determine whether the use of computer navigation during femoral nailing procedures reduced postoperative femoral malrotation and leg length discrepancy, as well as the number of revision cases. We also sought to determine whether radiation exposure time was reduced when computer navigation was used.

MATERIALS AND METHODS

Of 246 patients treated for femoral shaft fractures between 2004 and 2012, we selected those that received postoperative computed tomography for rotation and leg length control. We included 24 patients who received navigation-assisted treatments and 48 who received unassisted treatments, matched for age, sex, and fracture type. All patients were treated by femoral nailing.

RESULTS

The groups showed significant differences in the mean (standard deviation (SD) delay before surgery (navigation-assisted vs. unassisted groups: 8.5 ± 3.2 vs. 5.2 ± 5.8 days; P<0.05) and surgery times (163.7 ± 43.94 vs. 98.3 ± 28.13 min; P<0.001). The groups were significantly different in the mean (SD) radiation exposure time (4.43 ± 1.35 vs. 3.73 ± 1.5 min; P=0.042), and were not significantly different in the postoperative femoral antetorsion difference (8.83 ± 5.52° vs. 12.4 ± 9.2°; P=0.056), or in the postoperative length discrepancy (0.92 ± 0.75 vs. 0.95 ± 0.94 cm; P=0.453). Four (16.7%) navigation-assisted and 15 (31.25%) unassisted surgeries got revision for torsion and/or length corrections.

CONCLUSION

Our results showed that, compared to unassisted femoral surgery, the computer-navigation system did not improve postoperative results or reduce radiation exposure. In the future, improvements in handling and application could facilitate the workflow and may provide better postoperative results. Currently, computer navigation may provide advantages for complicated or sophisticated cases, such as complex three-dimensional deformity corrections.

LEVEL OF EVIDENCE

Level III.

Can fluoroscopy-based computer navigation improve entry point selection for intramedullary nailing of femur fractures?

BACKGROUND

The entry point is crucial to an accurate reduction in femoral nailing. Fluoroscopy-based navigation was developed to aid in reducing femur fractures and selecting entry points.

QUESTIONS/PURPOSES

We asked: (1) Can the piriformis fossa (PF) and tip of the greater trochanter (TT) be identified with high reproducibility? (2) What is the range of nonneutral images clinically acceptable for entry point selection? (3) Does navigation improve accuracy and precision of landmarking the TT and PF? And (4) does off-angle fluoroscopy within the acceptable range affect landmark accuracy?

METHODS

Three orthopaedic surgeons digitized the PF and TT under direct visualization on 10 cadaveric femurs, quantifying the reproducibility of the targeted PF and TT landmarks. Arcs of acceptable AP and lateral images of each femur were acquired in increments of 5° with a C-arm. An experienced orthopaedic surgeon rejected or accepted images for entry point selection by qualitatively assessing the relative positions and sizes of the greater trochanter, lesser trochanter, and femoral neck. Entry points were identified on each image using fluoroscopy and navigation. Hierarchical linear modeling was used to compare accuracy and precision between navigation and fluoroscopy and the effects of image angle.

RESULTS

A 29° average arc of acceptable images was found. Reproducibility of the target landmarks for the PF and TT under direct visualization was excellent. Navigation had similar accuracy to fluoroscopy for PF localization but less for TT. Navigation increased precision compared to fluoroscopy for both PF and TT. Image angle affected accuracy of the PF and TT under fluoroscopy and navigation.

CONCLUSIONS

Nonorthogonal images reduce accuracy of PF and TT identification with both navigation and fluoroscopy. Navigation increased precision but decreased accuracy and cannot overcome inaccuracies induced by nonorthogonal images.

Intra-operative assessment of femoral antetorsion using ISO-C 3D: a cadaver study

AIM

The aim of this study was to check the feasibility and accuracy of measuring antetorsion during surgery using a mobile image intensifier (IF) with computed tomography (CT) function (ISO-C 3D; Siemens, Erlangen, Germany) in comparison to a conventional multi-slice CT scanner (LightSpeed QX/I CT; GE Healthcare, VA, USA).

MATERIALS AND METHODS

A total of 10 intact femora with intact soft tissue of five fresh frozen cadavers were used. After fixation on a surgical table, IF CT scans of the hip and knee were performed at both 190° and 120° of scanning rotation. Afterwards, a conventional CT scan was performed. Antetorsion was calculated according to the method of Jend et al. Analysis of variance (ANOVA) and Lin's concordance correlation coefficient (LCC) were used to test the agreement between the three measurement techniques.

RESULTS

There was no significant difference in femoral antetorsion angle measurements between the different techniques (P>0.05). The mean time required to perform a scan using the ISO-C 3D was 9±3 min. The mean time required to measure antetorsion was 8±2 min. We found a high positive correlation between CT-based measurements and measurements performed using both the ISO-C 3D at 190° (LCC=0.99; mean difference=0.02°±1.8°) and the ISO-C 3D at 120° (LCC=0.99; mean difference=0.6°±1.5°), and a high positive correlation was also seen between both ISO-C 3D methods (LCC=0.99; mean difference=0.6°±1.7°).

CONCLUSIONS

Measuring femoral antetorsion using an intra-operative IF with CT function is a feasible and accurate method. This technique could be used when there is doubt about the antetorsion angle in the operated femur and it could help decrease the need for a separate revision surgery.

Computerized navigation for length and rotation control in femoral fractures: a preliminary clinical study

OBJECTIVE

Operative treatment of femoral fractures yields a predictably high union rate, but residual malrotation and leg length discrepancy remain a clinically significant problem. The aim of this study was to determine the safety and efficacy of using computerized navigation in controlling the length and rotation in femoral fracture surgery.

DESIGN

Prospective consecutive case series of 16 skeletally mature patients with femoral fractures undergoing surgical fixation; 14 were fixed with intramedullary nails and 2 with plates.

SETTING

An Academic Level I trauma center.

INTERVENTION

Computerized navigation was used to determine the length and rotation of the operated extremity as compared with the intact healthy contralateral side.

MAIN OUTCOME MEASURE

All patients underwent postoperative computed tomography scanogram for determining the length and rotation.

RESULTS

All fractures healed. Mean rotational difference between the treated and nontreated sides was 3.45 degrees (range, 0-7.7 degrees). Mean length difference between the 2 extremities as calculated by the computed tomography scan was 5.83 mm (range, 0-13 mm). Additional operative time required for computerized navigation was measured in 2 of the cases and totaled ∼30-35 min/case.

CONCLUSION

Computerized navigation was accurate and precise at restoring femoral length and rotation during femoral fracture fixation when the intact contralateral femur was used for reference. Further, large-scale randomized studies are required. Additionally, improvements aimed at decreasing operative time and improving user interface of these systems are recommended.

LEVEL OF EVIDENCE

Therapeutic level IV. See instructions for authors for a complete description of the levels of evidence.

3D atlas-based registration can calculate malalignment of femoral shaft fractures in six degrees of freedom

Objective

This study presents and evaluates a semi-automated algorithm for quantifying malalignment in complex femoral shaft fractures from a single intraoperative cone-beam CT (CBCT) image of the fractured limb.

Methods

CBCT images were acquired of complex comminuted diaphyseal fractures created in 9 cadaveric femora (27 cases). Scans were segmented using intensity-based thresholding, yielding image stacks of the proximal, distal and comminuted bone. Semi-deformable and rigid affine registrations to an intact femur atlas (synthetic or cadaveric-based) were performed to transform the distal fragment to its neutral alignment. Leg length was calculated from the volume of bone within the comminution fragment. The transformations were compared to the physical input malalignments.

Results

Using the synthetic atlas, translations were within 1.71 ± 1.08 mm (medial/lateral) and 2.24 ± 2.11 mm (anterior/posterior). The varus/valgus, flexion/extension and periaxial rotation errors were 3.45 ± 2.6°, 1.86 ± 1.5° and 3.4 ± 2.0°, respectively. The cadaveric-based atlas yielded similar results in medial/lateral and anterior/posterior translation (1.73 ± 1.28 mm and 2.15 ± 2.13 mm, respectively). Varus/valgus, flexion/extension and periaxial rotation errors were 2.3 ± 1.3°, 2.0 ± 1.6° and 3.4 ± 2.0°, respectively. Leg length errors were 1.41 ± 1.01 mm (synthetic) and 1.26 ± 0.94 mm (cadaveric). The cadaveric model demonstrated a small improvement in flexion/extension and the synthetic atlas performed slightly faster (6 min 24 s ± 50 s versus 8 min 42 s ± 2 min 25 s).

Conclusions

This atlas-based algorithm quantified malalignment in complex femoral shaft fractures within clinical tolerances from a single CBCT image of the fractured limb.

Can a semi-automated surface matching and principal axis-based algorithm accurately quantify femoral shaft fracture alignment in six degrees of freedom?

Accurate alignment of femoral shaft fractures treated with intramedullary nailing remains a challenge for orthopaedic surgeons. The aim of this study is to develop and validate a cone-beam CT-based, semi-automated algorithm to quantify the malalignment in six degrees of freedom (6DOF) using a surface matching and principal axes-based approach. Complex comminuted diaphyseal fractures were created in nine cadaveric femora and cone-beam CT images were acquired (27 cases total). Scans were cropped and segmented using intensity-based thresholding, producing superior, inferior and comminution volumes. Cylinders were fit to estimate the long axes of the superior and inferior fragments. The angle and distance between the two cylindrical axes were calculated to determine flexion/extension and varus/valgus angulation and medial/lateral and anterior/posterior translations, respectively. Both surfaces were unwrapped about the cylindrical axes. Three methods of matching the unwrapped surface for determination of periaxial rotation were compared based on minimizing the distance between features. The calculated corrections were compared to the input malalignment conditions. All 6DOF were calculated to within current clinical tolerances for all but two cases. This algorithm yielded accurate quantification of malalignment of femoral shaft fractures for fracture gaps up to 60 mm, based on a single CBCT image of the fractured limb.

Intraoperative measurement of femoral antetorsion using the anterior cortical angle method: a novel use for smartphones

BACKGROUND

Malrotation after femoral nailing is a common problem, yet estimation of the correct rotation during nailing remains a technical challenge. In the current study, a novel technique was developed for determining femoral antetorsion, the anterior cortical angle (ACA) method. The ACA is the angle between a line along the anterior aspect of the femoral neck and the posterior condylar line of the distal femur. The principal advantage of this method is that it facilitates intra-operative assessment of femoral antetorsion by utilizing the positional technology integrated in smartphones. This measurement is directly comparable to measurements made using computed tomography (CT) scans. The objective of the current study was to investigate the possibility and to validate the feasibility and accuracy of the new method and compare the results obtained with the traditional methods of antetorsion estimation via CT and surgical navigation technology.

METHODS

Twelve cadaveric femora were used. Femoral antetorsion was measured with the ACA method, using a smartphone with integrated gyroscope (Apple IPhone, Cupertino, CA, USA) and by a conventional navigated technique (Brainlab, Feldkirchen, Germany). Subsequently, all femora underwent CT scanning to measure their respective antetorsion via the ACA and the method of Jend (1986). Next, a mid-diaphyseal osteotomy was performed and the distal fragment was rotated and were adjusted to 10-15° using ACA by smartphone. All measurements were repeated with this new position of the femoral fragments.

RESULTS

Both radiological measurements according ACA and Jend (1986) demonstrated a statistically significant correlation (intact femur, r = 0.773, p = 0.003; after fixation, r = 0.898, p < 0.001). Comparing the measurements derived from the ACA, as analysed on CT images, and that gleaned from the experimental use of the same method with the smartphone, a statistically significant correlation was also demonstrated (intact femur, r = 0.826, p = 0.001; after fixation, r = 0.932, p < 0.001). Comparing the navigation system and the ACA measured by smartphone there was, on intact femora, a fair correlation without statistical significance and after fixation a good correlation with statistical significance (intact femur, r = 0.467, p = 0.126; after fixation, r = 0.869, p = 0.001).

CONCLUSIONS

The ACA method generated acceptable results and could contribute to improving the results of femoral nailing. The use of this device in a real clinical setting is necessary to truly elucidate its utility.

Influence of femoral malrotation on knee joint alignment and intra-articular contract pressures

INTRODUCTION

The standard treatment of femoral diaphyseal fractures is intramedullary nailing. Torsion error remains a largely unsolved problem. We hypothesized that femoral malrotation would change the coronal alignment of the lower extremity and the center of force (COF) in the tibiofemoral joint as compared to the native state.

METHOD

Ten cadaveric legs were used. Intraarticularly placed sensor foil was used to measure contact pressures for each condyle. The resultant pressure of this two-force measurement was calculated as the COF for the joint. Mechanical axis was defined by the navigation system. Two novel devices were used: (1) to simulate bodyweight with leg attachment and fixation to the anterior pelvis and (2) to fix the femur at various degrees of malrotation. A mid-diaphyseal osteotomy was performed and the distal fragment was rotated both internally and externally in 5° increments to a maximum of 25°. COF and axial alignment were assessed at each step with application of a half-bodyweight specific to each specimen.

RESULTS

Internal rotation resulted in valgus deviation of the mechanical axis and a shift in COF towards the lateral condyle (P < 0.05). External rotation caused varus deviation and switched COF towards the medial condyle (P < 0.05). This study shows that femoral malrotation has a significant effect on mechanical axis alignment and force vectors within the knee. Correlation with clinical outcomes is necessary and further research into minimizing such errors of torsion is warranted.

CONCLUSION

Torsion errors are not merely cosmetic issues, but may result in further morbidity, such as varus or valgus deformity and shifting of the COF, which may lead to joint arthrosis.

Angle estimation of human femora in a three-dimensional virtual environment

The estimation of human femur morphology and angulation provide useful information for assisted surgery, follow-up evaluation and prosthesis design, cerebral palsy management, congenital dislocation of the hip and fractures of the femur. Conventional methods that estimate femoral neck anteversion employ planar projections because accurate 3D estimations require complex reconstruction routines. In a recent work, we proposed a cylinder fitting method to estimate bifurcation angles in coronary arteries and we thought to test it in the estimation of femoral neck anteversion, valgus and shaft-neck angles. Femora from 10 patients were scanned using multisliced computed tomography. Virtual cylinders were fitted to 3 regions of the bone painted by the user to automatically estimate the femoral angles. Comparisons were made with a conventional manual method. Inter- and intra-reading measurements were evaluated for each method. We found femoral angles from both methods strongly correlated. Average anteversion, neck-shaft and valgus angles were 17.5°, 139.5°, 99.1°, respectively. The repeatability and reproducibility of the automated method showed a 5-fold reduction in inter- and intra-reading variability. Accordingly, the coefficients of variation for the manual method were below 25% whereas for the automated method were below 6%. The valgus angle assessment was globally the most accurate with differences below 1°. Maximum distances from true surface bone points and fitting cylinders attained 6 mm. The employment of virtual cylinders fitted to different regions of human femora consistently helped to assess true 3D angulations.